CN109954822B - Full-automatic foot-cutting forming equipment based on vision robot electronic component - Google Patents
Full-automatic foot-cutting forming equipment based on vision robot electronic component Download PDFInfo
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- CN109954822B CN109954822B CN201910333618.2A CN201910333618A CN109954822B CN 109954822 B CN109954822 B CN 109954822B CN 201910333618 A CN201910333618 A CN 201910333618A CN 109954822 B CN109954822 B CN 109954822B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F1/00—Bending wire other than coiling; Straightening wire
- B21F1/004—Bending wire other than coiling; Straightening wire by means of press-type tooling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F11/00—Cutting wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F23/00—Feeding wire in wire-working machines or apparatus
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses full-automatic pin cutting forming equipment based on a vision robot electronic component, which comprises a machine table, an industrial personal computer, a four-axis mechanical arm, a feeding mechanism and a plurality of pin cutting forming mechanisms for cutting and forming various different electronic components, wherein a first vacuum suction nozzle is arranged on the mechanical arm, a first camera for photographing downwards and a second camera for photographing upwards are arranged at the upper end of the machine table, the first camera photographs and detects the electronic component in the suction range of the first vacuum suction nozzle, determines the position and the type number of the appointed electronic component and feeds back to the industrial personal computer, then controls the mechanical arm to move to the position of the appointed electronic component to suck and move to the position above the second camera for detection, and the mechanical arm adjusts the electronic component to a set angle and position according to the angle and position information of the electronic component fed back by the second camera and moves to a processing station of the pin cutting forming mechanism corresponding to the electronic component for pin cutting and forming.
Description
[ field of technology ]
The invention relates to full-automatic foot-cutting forming equipment based on electronic components of a vision robot.
[ background Art ]
The existing automatic forming equipment on the market is basically single-item material single-item feeding and single-item forming, and cannot be used at all, for example, feeding, a vibration disc is used for conveying a whole pile of bulk electronic components into a whole runner, screening is carried out through a screening structure designed in the whole runner, and final positioning is finished through mechanisms such as clamping jaws at the tail end of the whole runner. Compared with the molding of thousands of electronic components in factories, the molding method has the advantages that the usage amount of a large amount of materials is not large, the small amount of materials is not suitable for purchasing special equipment, the equipment cost is too large, the manual production is adopted, and the production efficiency is low.
The present invention has been made based on this situation.
[ invention ]
The invention aims to overcome the defects of the prior art and provides full-automatic pin cutting and forming equipment based on the vision robot electronic element, which has the advantages of simple structure, strong universality and suitability for realizing automatic pin cutting and forming operation of various small-batch electronic elements.
The invention is realized by the following technical scheme:
full-automatic foot former of cutting based on vision robot electronic component, its characterized in that: the electronic component forming machine comprises a machine table 1 and an industrial personal computer 2, wherein a plurality of pin cutting forming mechanisms 3 for cutting pins and forming a plurality of different designated electronic components are arranged on the machine table 1, a four-axis manipulator 6 is arranged on the machine table 1, a first vacuum suction nozzle 61 for sucking the electronic components is arranged on the manipulator 6, a feeding mechanism 5 capable of randomly and circularly supplying the electronic components 200 in a plurality of random states to the suction range of the first vacuum suction nozzle 61 is arranged on the machine table 1, a first camera 4 for photographing and detecting the positions and types of the electronic components on the feeding mechanism 5 downwards is arranged at the upper end of the machine table 1, a second camera 7 for photographing and detecting the angles and positions of the electronic components sucked by the first vacuum suction nozzle 61 from the lower side and the upper side is arranged on the machine table 1, the first camera 4 photographs and detects the electronic components in the suction range of the first vacuum suction nozzle 61, the positions and types of the designated electronic components are determined, information is fed back to the industrial personal computer 2, the manipulator 6 is controlled by the industrial personal computer 2 to move to the positions of the first vacuum suction nozzle 61, the designated electronic components are moved to the positions of the designated electronic components, the positions of the electronic components are moved to the positions of the designated electronic components are carried out, and the electronic components are subjected to the second camera 7 is adjusted to correspond to the positions and the positions of the electronic components sucked by the second camera 7 and the electronic components are formed by the electronic components.
The full-automatic foot-cutting forming equipment based on the vision robot electronic element is characterized in that: the feeding mechanism 5 comprises a belt 51 which is arranged below the manipulator 6 and horizontally, and a belt driving device 52 which drives the belt 51 to intermittently move, wherein a vibrating disc 53 which is used for randomly conveying a plurality of different electronic components onto the belt 51 is arranged at the inflow end of the belt 51, a steering slide way 54 which is used for allowing the electronic components on the belt 51 to flow in is arranged at the outflow end of the belt 51, the steering slide way 54 is obliquely arranged downwards and the electronic components are steered to flow out from the side lower part of the belt 51, and a conveying device 55 which is used for catching and conveying the electronic components falling down from the steering slide way 54 into the vibrating disc 53 is arranged between the outflow opening of the steering slide way 54 and the vibrating disc 53.
The full-automatic foot-cutting forming equipment based on the vision robot electronic element is characterized in that: the handling device 55 comprises a climbing support 551 which inclines up and down, one end of the climbing support 551 is located above the vibration disc 53, the other end of the climbing support 551 is located below the outflow opening of the steering slide 54, a climbing conveyor belt 552 and a climbing motor 553 for driving the climbing conveyor belt 552 to move are arranged on the climbing support 551, baffle plates 554 are arranged on the climbing conveyor belt 552 along the climbing direction at intervals, a hopper 555 for accessing electronic elements flowing out of the steering slide 54 to the climbing conveyor belt 552 is arranged at the outflow opening of the steering slide 54 at the lower end of the climbing support 551, and a crawling channel 556 for only enabling the climbing conveyor belt 552 and the baffle plates 554 to crawl is arranged between the lower end of the hopper 555 and the climbing support 551.
The full-automatic foot-cutting forming equipment based on the vision robot electronic element is characterized in that: the bottom of the upper end of the climbing support 551 is provided with a guide plate 557 for guiding the electronic components falling down when the climbing conveyor 552 turns over to the vibration plate 53.
The full-automatic foot-cutting forming equipment based on the vision robot electronic element is characterized in that: the vibration plate 53 is provided with a common flow channel 531 which can randomly send out a plurality of different electronic components during vibration.
The full-automatic foot-cutting forming equipment based on the vision robot electronic element is characterized in that: the first camera 4 and the second camera 7 are CCD cameras.
The full-automatic foot-cutting forming equipment based on the vision robot electronic element is characterized in that: the pin shearing forming mechanism 3 comprises an upper forming die 38, a lower forming die 38, an upper cutting die 39 and a lower cutting die 34, wherein the upper forming die 38 and the lower cutting die 39 are used for forming electronic component pins, the upper cutting die 34 and the lower cutting die 39 are driven to move up and down relatively respectively, the cutting die 39 is positioned on the inner side of the forming die 38, a material placing frame 301 is arranged on the opposite side of the forming die 38, a sliding seat 302 capable of approaching to and separating from the forming die 38 and a feeding cylinder 303 which is used for driving the sliding seat 302 to slide in the horizontal direction are connected on the material placing frame 301 in a sliding manner, a positioning seat 304 is detachably connected on the sliding seat 302, a positioning groove 305 for placing electronic components from the upper side and positioning the electronic components from the horizontal direction is arranged on the positioning seat 304, a second vacuum suction nozzle 306 is arranged above the positioning groove 305, a positioning cylinder 308 used for connecting and driving the second vacuum suction nozzle 306 to move up and down is arranged on the sliding seat 307, and the rodless cylinder 307 is used for driving the second vacuum suction nozzle 306 to move up and down above the positioning groove 305.
The full-automatic foot-cutting forming equipment based on the vision robot electronic element is characterized in that: the bottom of the positioning groove 305 is provided with an air suction inlet 3051 for connecting with external equipment.
The full-automatic foot-cutting forming equipment based on the vision robot electronic element is characterized in that: the lower part of the material placing frame 301 is provided with a drawer groove 3011, the drawer groove 3011 is internally provided with a material collecting box 309 which can be pulled out outwards and is provided with an opening at the upper end, the upper part of the material placing frame 301 is provided with a funnel opening 3012 which is communicated with the drawer groove 3011 from top to bottom, and the funnel opening 3012 is positioned in the stroke of the rodless cylinder 307 for driving the second vacuum suction nozzle 306 to move.
The full-automatic foot-cutting forming equipment based on the vision robot electronic element is characterized in that: the pin shearing forming mechanism 3 further comprises an X-axis base 311, a Y-axis base 312 and a Z-axis base 313, the Y-axis base 312 is slidably connected to the X-axis base 311, the Z-axis base 313 is slidably connected to the Y-axis base 312, an X-axis screw 321 which is in threaded connection with the Y-axis base 312 is rotatably connected to the X-axis base 311, a Y-axis screw 322 which is in threaded connection with the Z-axis base 313 is rotatably connected to the Y-axis base 312, a die mounting base 33 is slidably connected to the Z-axis base 313, a Z-axis screw 323 which is in threaded connection with the die mounting base 33 is rotatably connected to the Z-axis base 313, an upper base 331 and a lower base 332 are arranged on the die mounting base 33, the upper die cutting cylinder 34 and the lower die cutting cylinder 34 are respectively fixed to the upper base 331 and the lower base 332, an upper driving plate 35 and a lower driving plate 35 are respectively fixed to piston rods of the upper and lower driving plates 34, a guide post 36 for guiding the upper and lower sliding of the driving plate 35 is arranged between the upper base 331 and the lower base 332, the outer sides of the driving plate 35 are respectively fixed to the die carrier 37 and the lower die carrier is respectively detachable.
The full-automatic foot-cutting forming equipment based on the vision robot electronic element is characterized in that: the belt drive 52 includes an intermittent drive motor 521.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, one or more random-state electronic components 200 are randomly supplied to the suction range of the first vacuum suction nozzle 61 through the feeding mechanism 5, then the electronic components in the suction range of the first vacuum suction nozzle 61 are photographed and detected through the first camera 4, the position and the type of the appointed electronic components are determined, information is fed back to the industrial personal computer 2, the industrial personal computer 2 controls the manipulator 6 to move to the position of the appointed electronic components with the first vacuum suction nozzle 61 to suck, the sucked electronic components are moved to the position above the second camera 7 to detect the gesture of the random-state electronic components, the manipulator 6 adjusts the electronic components to the set angle and position according to the angle and position information of the electronic components fed back by the second camera 7, and moves to the pin cutting and forming mechanism 3 corresponding to the electronic components to perform pin cutting and forming, so that the multi-angle grabbing requirements of various products and the pin cutting and forming machining of the various products can be met, the processing efficiency is greatly improved, the automatic production of various products is realized, the automatic processing of various small-requirement electronic components in factories is met, and the automatic processing cost of various small-requirement electronic components is reduced.
2. The electronic components in random states are identified and positioned through the two camera vision systems of the first camera and the second camera, the electronic components in random states are subjected to gesture adjustment by matching with the four-axis mechanical arm, the electronic component automatic clamping device is simple in structure, high in flexibility, universal, capable of adapting to the respective grabbing and positioning of hundreds of electronic component materials and thousands of electronic component materials, capable of adapting to the automatic pin cutting forming of more electronic components by rapidly switching the forming die 38 and the cutting die 39 on the plurality of pin cutting forming mechanisms 3 according to the needs through the forming die 38 and the cutting die 39 which are detachably connected, and capable of meeting the processing production of hundreds of electronic components and thousands of electronic components in factories.
3. Through the belt, shake dish 53, turn to slide 54 and handling device 55 and combine together, realize the circulation and supply one or more different electronic component to the plane belt at random, only need pour one or more different electronic component into to shake dish 53, the shooting that cooperates the camera vision system snatchs and fixes a position, can realize appointed electronic component's letter sorting, and a structure is simple, the feed of multiple electronic component is general, and turn to slide 54 slant down sets up, then can carry out the upset on the space to electronic component and return to shake dish 53 again, prevent appointed electronic component and not discern the backward flow after the backward flow in the first ejection of compact, the second ejection of compact still keeps the material angle unchanged and leads to unable vision letter sorting, consequently, through the backward flow of space rather than planar structure, sorting efficiency has been improved, simultaneously, the backward flow structure of space, occupation space is little.
4. The upper and lower forming die and the upper and lower cutting die are driven to move in opposite directions through the upper and lower forming die, the electronic element welding leg is punched into a corresponding shape through the upper and lower forming die in opposite directions, the electronic element welding leg is cut off at the cutting die through the upper and lower cutting die, forming and leg cutting are realized at one time, and the efficiency of forming and leg cutting of the electronic element welding leg is improved through the upper and lower opposite directions.
5. According to the invention, the forming die can be adjusted from three directions of XYZ through the X-axis screw, the Y-axis screw and the Z-axis screw respectively, so that the die can be rapidly produced after being replaced by corresponding fine adjustment, the die replacing time and the die testing time are shortened, the efficiency is improved, and the defective products are reduced.
[ description of the drawings ]
The invention is described in further detail below with reference to the attached drawing figures, wherein:
FIG. 1 is one of the structural schematic diagrams of the present invention;
FIG. 2 is a second schematic diagram of the structure of the present invention;
FIG. 3 is a schematic structural view of the circulation feeding mechanism of the present invention;
FIG. 4 is a second schematic structural view of the circulation feeding mechanism of the present invention;
FIG. 5 is a cross-sectional view of the recirculating feed mechanism of the present invention;
FIG. 6 is a schematic view of a four-axis manipulator of the present invention;
FIG. 7 is a schematic view of a pin shearing forming mechanism according to the present invention;
FIG. 8 is a schematic structural view of the material placing rack and related structures thereon;
FIG. 9 is a schematic view of a positioning slot of the present invention with electronic components;
FIG. 10 is a schematic view showing the structure of a forming die, a cutting die and a driving structure thereof according to the present invention;
FIG. 11 is a schematic view of the construction of the waste channel and chute of the present invention.
[ detailed description ] of the invention
The invention is further described below with reference to the accompanying drawings:
the full-automatic pin cutting forming equipment based on the vision robot electronic components shown in fig. 1 to 11 comprises a machine 1 and an industrial personal computer 2, wherein a plurality of pin cutting forming mechanisms 3 for cutting pins and forming various different specified electronic components are arranged on the machine 1, a four-axis manipulator 6 is arranged on the machine 1, a first vacuum suction nozzle 61 for sucking the electronic components is arranged on the manipulator 6, a feeding mechanism 5 capable of randomly and circularly supplying the electronic components 200 in various random states to the suction range of the first vacuum suction nozzle 61 is arranged on the machine 1, a first camera 4 for photographing downwards to detect the positions and types of the electronic components on the feeding mechanism 5 is arranged at the upper end of the machine 1, and a second camera 7 for photographing downwards to detect the angles and the positions of the electronic components sucked by the first vacuum suction nozzle 61 is arranged on the machine 1. Preferably, the first camera 4 and the second camera 7 are CCD cameras.
The electronic component forming device comprises an industrial control system, a feeding mechanism 5, a first camera 4, a manipulator 6, a second camera 7, a first camera 4, a second camera 7, a pin cutting forming mechanism 3 and a pin cutting forming mechanism 3, wherein the characteristics of various electronic components are stored in the industrial control system, one or more electronic components formed corresponding to the pin cutting forming mechanism 3 are designated according to production requirements, in operation, one or more electronic components 200 in random states are randomly supplied to the suction range of the first vacuum suction nozzle 61 through the feeding mechanism 5, the first camera 4 photographs and detects the electronic components in the suction range of the first vacuum suction nozzle 61, the designated electronic components are determined in position and type, information is fed back to the industrial control computer 2, the manipulator 6 is controlled to move to the designated electronic components to the position through the first vacuum suction nozzle 61 for suction, the sucked electronic components are moved to the position above the second camera 7 for detection, and the manipulator 6 adjusts the electronic components to the set angle and position according to the angle and position information of the electronic components fed back by the second camera 7, and the electronic components are moved to the pin cutting forming mechanism 3 corresponding to the electronic components for pin cutting and forming.
The electronic components in random states are identified and positioned through the camera vision system, the electronic component automatic clamping device is simple in structure and high in flexibility, the four-axis mechanical arm is combined to control the first vacuum suction nozzle 61 to carry, adjust and position the electronic components, then the electronic components are moved to the pin shearing forming mechanism 3 corresponding to the electronic component to be formed to be sheared and formed, the electronic component automatic clamping device is universal, can be suitable for grabbing various electronic component materials respectively, corresponds to pin shearing forming, can be used for forming various materials in a common mode, solves the problem that manual work cannot be automated when various and small-batch electronic component forming is needed, and saves labor.
Since there are hundreds or even thousands of electronic components 200, in order for the pin cutting forming mechanism 3 to be able to form and cut the electronic components 200, the pin cutting forming mechanism 3 includes upper and lower forming dies 38 for forming the pins of the electronic components, upper and lower cutting dies 39 for cutting the pins of the electronic components, and upper and lower punching cylinders 34 for driving the upper and lower forming dies 38 and the upper and lower cutting dies 39 to move up and down, respectively, the cutting dies 39 being located inside the forming dies 38, the forming dies 38 and the cutting dies 39 being detachably connected. Therefore, for the electronic component 200 to be produced and processed, the corresponding forming die 38 and cutting die 39 are replaced on the pin cutting forming mechanism 3, and the electronic component 200 is switched to in the industrial control system, and the first camera 4 is specified to identify the electronic components 200, so that quick switching is realized, and the structure is simple.
The opposite side of the forming die 38 is provided with a material placing frame 301, a sliding seat 302 capable of approaching and separating from the forming die 38 and a feeding cylinder 303 for driving the sliding seat 302 to slide are connected to the material placing frame 301 in a sliding manner in the horizontal direction, a positioning seat 304 is detachably connected to the sliding seat 302, a positioning groove 305 for placing an electronic component from above and positioning the electronic component in the horizontal direction is formed in the positioning seat 304, a second vacuum suction nozzle 306 is arranged above the positioning groove 305, a rodless cylinder 307 is arranged on the sliding seat 302, a positioning cylinder 308 for connecting and driving the second vacuum suction nozzle 306 to move up and down is fixedly connected to the rodless cylinder 307, and the rodless cylinder 307 is used for driving the second vacuum suction nozzle 306 to move above the positioning groove 305 or moving the second vacuum suction nozzle 306 outside the positioning groove 305.
The lower part of the material placing frame 301 is provided with a drawer groove 3011, the drawer groove 3011 is internally provided with a material collecting box 309 which can be pulled out outwards and is provided with an opening at the upper end, the upper part of the material placing frame 301 is provided with a funnel opening 3012 which is communicated with the drawer groove 3011 from top to bottom, and the funnel opening 3012 is positioned in the stroke of the rodless cylinder 307 for driving the second vacuum suction nozzle 306 to move.
When the pins are cut, the electronic component sucked by the first vacuum suction nozzle 61 is detected and adjusted to a set angle and position above the second camera 7, then the electronic component is moved and placed in the positioning groove 305 on the corresponding pin cutting forming mechanism 3, the rodless cylinder 307 drives the positioning cylinder 308 to enable the second vacuum suction nozzle 306 to move above the positioning groove 305, the positioning cylinder 308 drives the second vacuum suction nozzle 306 to press down on the electronic component in the positioning groove 305 to fix the electronic component, the feeding cylinder 303 drives the sliding seat 302 to move to the forming die 38 and the cutting die 39 with the electronic component to perform pin welding forming and pin cutting, the finished electronic component is taken out after finishing, the second vacuum suction nozzle 306 sucks the electronic component in the positioning groove 305, the rodless cylinder 307 drives the positioning cylinder 308 to move out of the positioning groove 305 with the second vacuum suction nozzle 306, and when the second vacuum suction nozzle 306 moves to above the hopper 3012, the electronic component is released to enable the electronic component to fall into the receiving box 309 from the hopper 3012, and the finished electronic component is stored and processed by the receiving box 309. Realizing the full-automatic process of automatically connecting the materials of the first vacuum suction nozzle 61, automatically carrying the materials, cutting the feet, forming, automatically carrying the materials, withdrawing, automatically carrying the materials and storing. Moreover, after the positioning groove 305 receives the material of the first vacuum suction nozzle 61, the manipulator can move away to perform the next round of suction work, so that the pin shearing forming and the manipulator material conveying are performed synchronously, and the production efficiency is high.
The material receiving box 309 is placed through the drawer groove 3011, so that the structure is compact, the material receiving box 309 is prevented from occupying space, and materials are prevented from being knocked over and poured.
The bottom of the positioning groove 305 is provided with an air suction opening 3051 for connecting with external equipment, and the electronic component placed in the positioning groove 305 is sucked through the air suction opening 3051, so that the electronic component is positioned more accurately, and is placed stably, and after the foot cutting forming is finished, the air suction effect of the air suction opening 3051 is closed, so that the electronic component in the positioning groove 305 is sucked by the second vacuum suction nozzle 306.
The pin shearing forming mechanism 3 further comprises an X-axis base 311, a Y-axis base 312 and a Z-axis base 313, the Y-axis base 312 is slidably connected to the X-axis base 311, the Z-axis base 313 is slidably connected to the Y-axis base 312, an X-axis screw 321 which is in threaded connection with the Y-axis base 312 is rotatably connected to the X-axis base 311, a Y-axis screw 322 which is in threaded connection with the Z-axis base 313 is rotatably connected to the Y-axis base 312, a die mounting base 33 is slidably connected to the Z-axis base 313, a Z-axis screw 323 which is in threaded connection with the die mounting base 33 is rotatably connected to the Z-axis base 313, an upper base 331 and a lower base 332 are arranged on the die mounting base 33, the upper die cutting cylinder 34 and the lower die cutting cylinder 34 are respectively fixed to the upper base 331 and the lower base 332, an upper driving plate 35 and a lower driving plate 35 are respectively fixed to piston rods of the upper and lower driving plates 34, a guide post 36 for guiding the upper and lower sliding of the driving plate 35 is arranged between the upper base 331 and the lower base 332, the outer sides of the driving plate 35 are respectively fixed to the die carrier 37 and the lower die carrier is respectively detachable.
When the electronic element pin is cut and formed, the electronic element 200 is placed between the upper forming die and the lower forming die, the upper punching cylinder, the lower punching cylinder, the upper driving plate, the lower driving plate and the die frame respectively drive the upper forming die, the lower forming die and the upper cutting die to move in opposite directions, the electronic element pin is punched into a corresponding shape through opposite directions of the upper forming die and the lower forming die, the electronic element pin is cut off at the cutting die through the upper cutting die and the lower cutting die, and the efficiency of the electronic element pin forming and pin cutting is improved through the upper and lower opposite directions.
The forming die can be adjusted in three directions of XYZ through the X-axis screw, the Y-axis screw and the Z-axis screw, so that the position of the forming die can be quickly adjusted for applicable production after die replacement, repeated disassembly and assembly of the forming die are avoided, die replacement and die test time are shortened, efficiency is improved, and defective products are reduced.
The waste baffle 310 with an arch structure is fixed between the upper bottom plate 331 and the lower bottom plate 332, the waste baffle 310 is blocked at the back of the cutting die 39 from three directions of two sides of an X axis and one side of a Y axis, and forms a waste channel 370 for discharging waste of cutting feet with the die frame 37, the waste cut by the cutting die is prevented from splashing to clamp related moving structures by the waste baffle, an inclined flow channel 390 of the downward inclined waste channel 370 is arranged at the inner side of the cutting die 39, and the waste cut by the cutting die falls into the waste channel under the gravity through the inclined flow channel and is discharged, so that the cleaning of a place is maintained.
A crank 324 is arranged at the upper end of the Z-axis screw 323, so that the Z-axis screw can be rotated up and down conveniently to adjust the height of the die mounting seat.
Four guide posts 36 are respectively positioned at two sides of the punching cylinder 34, and the four guide post structures strengthen the overall rigid structure of the up-and-down motion formed by the transmission plate, the die carrier, the forming die and the cutting die, so that the overall deformation of the die carrier is smaller, and the control of the cutting pin forming burrs and the forming dimensional tolerance is better.
Preferably, the feeding mechanism 5 comprises a belt 51 which is arranged below the manipulator 6 and horizontally, and a belt driving device 52 which drives the belt 51 to intermittently move, preferably, the belt driving device 52 comprises an intermittent driving motor 521, the electronic components are arranged on the horizontal belt so as to be captured by the first camera 4 and shot by the first vacuum suction nozzle 61, the inflow end of the belt 51 is provided with a vibration disc 53 for randomly conveying a plurality of different electronic components on the belt 51, the outflow end of the belt 51 is provided with a steering slide 54 for the electronic components on the belt 51 to flow in, the steering slide 54 is obliquely arranged downwards and the electronic components are turned to flow out from the side below of the belt 51, and a carrying device 55 for catching and carrying the electronic components falling down from the steering slide 54 back into the vibration disc 53 is arranged between the outflow opening of the steering slide 54 and the vibration disc 53.
One or more different electronic components are placed in the vibration tray 53, the electronic components are automatically and slightly scattered onto the belt 51 by the vibration tray 53, the electronic components in a random state move to the suction range of the first vacuum suction nozzle 61 under the conveying of the belt, wherein the designated electronic components with the correct recognition angles on the belt 51 are recognized by the first camera 4 and sucked by the first vacuum suction nozzle 61, and other unspecified electronic components skip and move forward to flow into the steering slide 54, and are conveyed back to the vibration tray 53 again by the steering slide 54 and the conveying device 55.
The steering slide way 54 is obliquely arranged downwards, so that the electronic components can be turned over in space and then returned to the vibration disc 53, and the situation that the specified electronic components cannot be visually sorted due to the fact that the material angle is unchanged after the first discharging is not recognized and returned is prevented. Therefore, through the space rather than the backflow of the plane structure, the sorting efficiency is improved, and meanwhile, the space is small in occupied space due to the backflow structure.
The handling device 55 comprises a climbing support 551 which inclines up and down, one end of the climbing support 551 is located above the vibration disc 53, the other end of the climbing support 551 is located below the outflow opening of the steering slide 54, a climbing conveyor belt 552 and a climbing motor 553 for driving the climbing conveyor belt 552 to move are arranged on the climbing support 551, baffle plates 554 are arranged on the climbing conveyor belt 552 along the climbing direction at intervals to prevent electronic components from sliding backwards, a hopper 555 for accessing the electronic components flowing out of the steering slide 54 to the climbing conveyor belt 552 is arranged at the outflow opening of the steering slide 54 at the lower end of the climbing support 551, and a crawling channel 556 only for the climbing conveyor belt 552 and the baffle plates 554 to crawl is arranged between the lower end of the hopper 555 and the climbing support 551, so that the electronic components fall between the climbing conveyor belt 552 and the baffle plates 554 to avoid falling. The electronic components flow into the hopper 555 through the steering slide way 54, are received by the hopper 555 and fall onto the climbing conveyor belt 552, and move upwards along with the climbing conveyor belt 552 in an inclined way, fall into the vibration plate 53 when the upper end of the climbing conveyor belt 552 steers, and have simple structure and small occupied area.
In order to enable the electronic components falling from the upper end of the climbing conveyor belt 552 to smoothly fall into the vibration plate 53, a guide plate 557 for guiding the electronic components falling from the climbing conveyor belt 552 to the vibration plate 53 when the climbing conveyor belt 552 turns over is provided at the bottom of the upper end of the climbing bracket 551.
The four-axis robot hand and the machine vision cooperate to complete the carrying and positioning work of the electronic elements in a random state by combining the first camera and the second camera, and the vibration disc 53 is provided with a universal runner 531 which can randomly send out a plurality of different electronic elements during vibration, so that the universality is good.
Claims (7)
1. Full-automatic foot former of cutting based on vision robot electronic component, its characterized in that: the electronic component picking device comprises a machine table (1) and an industrial personal computer (2), wherein a plurality of pin shearing forming mechanisms (3) for shearing pins and forming various specified electronic components are arranged on the machine table (1), a four-axis manipulator (6) is arranged on the machine table (1), a first vacuum suction nozzle (61) for sucking the electronic components is arranged on the four-axis manipulator (6), a feeding mechanism (5) capable of randomly and circularly supplying the electronic components (200) in various random states to the suction range of the first vacuum suction nozzle (61) is arranged on the machine table (1), a first camera (4) for photographing downwards to detect the positions and types of the electronic components on the feeding mechanism (5) is arranged at the upper end of the machine table (1), a second camera (7) for photographing the angles and the positions of the electronic components sucked by the first vacuum suction nozzle (61) from below is arranged on the machine table (1), the first camera (4) photographs the electronic components in the suction range of the first vacuum suction nozzle (61) at random, determines the specified electronic components and feeds back the specified electronic components and the types back to the first camera (6) and then controls the electronic components to be sucked by the second camera (6) and the electronic components are sucked by the second camera (6) and the specified electronic components are sucked by the electronic components, the four-axis mechanical arm (6) adjusts the electronic element to a set angle and position according to the angle and position information of the electronic element fed back by the second camera (7) and moves to a pin shearing forming mechanism (3) corresponding to the electronic element for pin shearing and forming, the feeding mechanism (5) comprises a belt (51) which is positioned below the four-axis mechanical arm (6) and horizontally arranged, and a belt driving device (52) which drives the belt (51) to intermittently move, the inflow end of the belt (51) is provided with a vibrating disc (53) which is used for randomly conveying a plurality of different electronic elements onto the belt (51), the outflow end of the belt (51) is provided with a steering slide (54) which is used for the outflow of the electronic element on the belt (51), the steering slide (54) is obliquely arranged downwards and flows out from the lower side of the belt (51), a climbing device (55) which is used for receiving the electronic element which falls down from the steering slide (54) and is arranged between the outflow opening of the steering slide (54) and the vibrating disc (53), the climbing device (55) is positioned on the other end of the climbing support (551) which is positioned on the climbing stand (551), the climbing support (551) is provided with a climbing conveyor belt (552) and a climbing motor (553) for driving the climbing conveyor belt (552) to move, the climbing conveyor belt (552) is provided with baffle plates (554) at intervals along the climbing direction, the lower end of the climbing support (551) is provided with a hopper (555) for accessing electronic components flowing out of the steering slide way (54) to the climbing conveyor belt (552) at the outflow opening of the steering slide way (54), a crawling channel (556) for only enabling the climbing conveyor belt (552) and the baffle plates (554) to crawl through is arranged between the lower end of the hopper (555) and the climbing support (551), the shearing foot forming mechanism (3) comprises an upper and lower cutting die (39) for forming welding feet of the electronic components and cutting off the welding feet of the electronic components, an upper and lower punching cylinder (34) for driving the upper and lower cutting die (38) and the upper and lower cutting die (39) to move up and down relatively respectively, the upper and lower cutting die (39) are positioned on the upper and lower inner sides of the hopper (552), the upper cutting die (39) is provided with a sliding seat (301) and a sliding seat (301) which is arranged on the upper and lower side of the upper forming die (38) and the lower forming die (38) and is far away from the sliding seat (301), the electronic component positioning device is characterized in that a positioning seat (304) is detachably connected to the sliding seat (302), a positioning groove (305) for placing the electronic component from the upper side and positioning the electronic component from the horizontal direction is formed in the positioning seat (304), a second vacuum suction nozzle (306) is arranged above the positioning groove (305), a rodless cylinder (307) is arranged on the sliding seat (302), a positioning cylinder (308) for connecting and driving the second vacuum suction nozzle (306) to move up and down is fixedly connected to the rodless cylinder (307), and the rodless cylinder (307) is used for driving the second vacuum suction nozzle (306) to move above the positioning groove (305) or moving the second vacuum suction nozzle (306) out of the upper side of the positioning groove (305).
2. The full-automatic pin cutting and forming equipment based on the vision robot electronic component as set forth in claim 1, wherein: the bottom of the upper end of the climbing support (551) is provided with a guide plate (557) for guiding electronic components falling off when the climbing conveyor belt (552) turns over into the vibration plate (53).
3. The full-automatic pin cutting and forming equipment based on the vision robot electronic component as set forth in claim 1, wherein: the vibration disk (53) is provided with a universal runner (531) which can randomly send out a plurality of different electronic components during vibration.
4. The full-automatic pin cutting and forming equipment based on the vision robot electronic component as set forth in claim 1, wherein: the first camera (4) and the second camera (7) are CCD cameras.
5. The full-automatic pin cutting and forming equipment based on the vision robot electronic component as set forth in claim 1, wherein: an air suction inlet (3051) used for being connected with external equipment is formed in the bottom of the positioning groove (305).
6. The full-automatic pin cutting and forming equipment based on the vision robot electronic component as set forth in claim 1, wherein: the utility model discloses a vacuum suction nozzle, including material placing frame (301), material placing frame (301) below is equipped with drawer groove (3011), be equipped with in drawer groove (3011) and outwards pull out just upper end open-ended receipts magazine (309), material placing frame (301) top is equipped with from last hopper mouth (3012) down of intercommunication drawer groove (3011), hopper mouth (3012) are located the stroke that rodless cylinder (307) drive second vacuum suction nozzle (306) moved.
7. The full-automatic pin cutting and forming equipment based on the vision robot electronic component as set forth in claim 1, wherein: the foot shearing forming mechanism (3) further comprises an X-axis base (311), a Y-axis base (312) and a Z-axis base (313), the Y-axis base (312) is connected to the X-axis base (311) in a sliding manner, the Z-axis base (313) is connected to the Y-axis base (312) in a sliding manner, the X-axis base (311) is connected to an X-axis screw (321) in threaded connection with the Y-axis base (312) in a threaded manner, the Y-axis base (312) is connected to a Y-axis screw (322) in threaded connection with the Z-axis base (313) in a threaded manner, the Z-axis base (313) is connected to a Z-axis screw (323) in threaded connection with the die mount (33) in a sliding manner, an upper base plate (331) and a lower base (332) are arranged on the die-cutting cylinder (34) respectively, an upper transmission plate (35) of the upper die-cutting cylinder (34) and a lower transmission plate (35) of the upper die-cutting cylinder (34) are fixed to the lower base respectively, a guide plate (35) of the upper guide post (35) and a lower guide post (35) of the lower die-guide post (37) are arranged on the outer side of the die carrier (37), the upper and lower forming dies (38) and the upper and lower cutting dies (39) are detachably connected to the die carrier (37) respectively.
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| CN201910333618.2A CN109954822B (en) | 2019-04-24 | 2019-04-24 | Full-automatic foot-cutting forming equipment based on vision robot electronic component |
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| CN201910333618.2A CN109954822B (en) | 2019-04-24 | 2019-04-24 | Full-automatic foot-cutting forming equipment based on vision robot electronic component |
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| CN109954822B true CN109954822B (en) | 2023-07-18 |
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| CN110540053B (en) * | 2019-10-12 | 2024-02-23 | 成都市普瑞昇科技有限公司 | Automatic material collecting machine |
| CN110967530B (en) * | 2019-10-15 | 2021-10-08 | 国网山东省电力公司电力科学研究院 | Use method of full-automatic wire plugging device with depth probe |
| CN116504711B (en) * | 2023-06-28 | 2023-08-29 | 江苏国芯智能装备有限公司 | Cut muscle shaping separation proof press |
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| CN104555352A (en) * | 2013-10-21 | 2015-04-29 | 泰科电子(上海)有限公司 | Automatic feed system |
| JP2015085402A (en) * | 2013-10-28 | 2015-05-07 | 富士電機機器制御株式会社 | Electronic-substrate-lead cutting device |
| JP2017113767A (en) * | 2015-12-22 | 2017-06-29 | 伊藤工業株式会社 | Piece connection pin processing device |
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| CN108882674A (en) * | 2018-09-18 | 2018-11-23 | 昆山晨鼎嘉电子科技有限公司 | A kind of automatic placement equipment of vision guide and its application method |
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| CN104555352A (en) * | 2013-10-21 | 2015-04-29 | 泰科电子(上海)有限公司 | Automatic feed system |
| JP2015085402A (en) * | 2013-10-28 | 2015-05-07 | 富士電機機器制御株式会社 | Electronic-substrate-lead cutting device |
| JP2017113767A (en) * | 2015-12-22 | 2017-06-29 | 伊藤工業株式会社 | Piece connection pin processing device |
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